{
    "name": "policy_preprocessor",
    "steps": [
        {
            "registry_name": "rename_observations_processor",
            "config": {
                "rename_map": {}
            }
        },
        {
            "registry_name": "to_batch_processor",
            "config": {}
        },
        {
            "registry_name": "device_processor",
            "config": {
                "device": "cuda",
                "float_dtype": null
            }
        },
        {
            "registry_name": "cosmos3_idle_frame_processor",
            "config": {
                "action_feature_names": null,
                "fps": null,
                "use_state": true,
                "idle_state": true,
                "translation_threshold": 0.005,
                "rotation_threshold": 0.026179938779914945,
                "gripper_threshold": 0.01,
                "joint_threshold": 0.005,
                "min_streak": 3
            }
        },
        {
            "registry_name": "normalizer_processor",
            "config": {
                "eps": 1e-08,
                "features": {},
                "norm_map": {
                    "VISUAL": "IDENTITY",
                    "STATE": "IDENTITY",
                    "ACTION": "IDENTITY"
                }
            }
        },
        {
            "registry_name": "cosmos3_video_canvas_processor",
            "config": {
                "camera_keys": [],
                "view_size": null,
                "fps": null,
                "chunk_size": 32,
                "temporal_compression": 4,
                "spatial_compression": 16
            }
        },
        {
            "registry_name": "cosmos3_prompt_processor",
            "config": {
                "view_description": "The top row is from the wrist-mounted camera. The bottom row contains two horizontally concatenated third-person perspective views of the scene from opposite sides, with the robot visible.",
                "fps": null,
                "chunk_size": 32,
                "use_state": true
            }
        },
        {
            "registry_name": "cosmos3_tokenizer_processor",
            "config": {
                "tokenizer_name": "tokenizer",
                "cfg_dropout_rate": 0.1
            },
            "artifacts": {
                "tokenizer_name": "tokenizer"
            }
        },
        {
            "registry_name": "device_processor",
            "config": {
                "device": "cuda",
                "float_dtype": null
            }
        }
    ]
}